This experiment evaluates the CAA-MI controller and investigates its potential advantages over the previously built MI controller [1]} (referred simply as MI controller for the rest of the paper). The Gazebo simulated robot was equipped with a laser range finder and a RGB camera. The software was developed in Robot Operating System (ROS) and is described in more detail in [1]}. The ROS code for the CAA-MI controller is provided under MIT license in our repository [3]}. The robot was controlled via an Operator Control Unit (OCU) (see Figure REF ) including a GUI (Figure REF ). The experiment's test arena was approximately \(24m \times 24m\) . The software used for the secondary task was the OpenSesame [4]} and the images used as stimuli were previously validated for mental rotation tasks in [5]}.
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